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          <h2 class="post-title">自动驾驶Planning总结3 -- Behaviour Planning</h2>
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            <span><i class="icon-calendar-outline"></i> 2019-08-09</span>
            
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            <p>介绍Behavior Planning的相关概念，finite state machine的使用</p>
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<p>在自动驾驶中，车辆经过的道路约束，大部分情况下是作为先验知识已知的，获取途径是经过高精度地图。</p>
<p>Behavior Planning中对于输入的要求较高，要求从环境中获取大量信息。在这可以大体分为这几类：</p>
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<li>路网信息。通过高精度地图获取。</li>
<li>到达目的地的路径。通过在路网上的Mission Planning来告知。</li>
<li>车辆的自身信息。该信息对于同步高精度地图，实现车辆状态同步至关重要。</li>
<li>环境中的动态与静态障碍物信息。以此来完善行为操作。</li>
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